32 citations · 62 across the 22 of their papers we have counts for
25 papers
Riemannian Flow Matching Policy for Robot Motion Learning
Max Braun, Noémie Jaquier, Leonel Rozo +1
We introduce Riemannian Flow Matching Policies (RFMP), a novel model for learning and synthesizing robot visuomotor policies. RFMP leverages the efficient training and inference ca…
Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning
Noémie Jaquier, Leonel Rozo, Tamim Asfour
In the realm of robotics, numerous downstream robotics tasks leverage machine learning methods for processing, modeling, or synthesizing data. Often, this data comprises variables…
Wasserstein Gradient Flows for Optimizing Gaussian Mixture Policies
Hanna Ziesche, Leonel Rozo
Robots often rely on a repertoire of previously-learned motion policies for performing tasks of diverse complexities. When facing unseen task conditions or when new task requiremen…
The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing
Leonel Rozo, Andras G. Kupcsik, Philipp Schillinger +9
Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances…
Learning Riemannian Stable Dynamical Systems via Diffeomorphisms
Jiechao Zhang, Hadi Beik-Mohammadi, Leonel Rozo
Dexterous and autonomous robots should be capable of executing elaborated dynamical motions skillfully. Learning techniques may be leveraged to build models of such dynamic skills.…
Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds
Noémie Jaquier, Leonel Rozo, Miguel González-Duque +2
Human motion taxonomies serve as high-level hierarchical abstractions that classify how humans move and interact with their environment. They have proven useful to analyse grasps,…